Christian Gebken Gerald Sommer Stochastically Optimal Epipole Estimation in Omnidirectional Images with Geometric Algebra. 85-97 2008 conf/robvis/2008 RobVis http://dx.doi.org/10.1007/978-3-540-78157-8_7 db/conf/robvis/robvis2008.html#GebkenS08